NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Collections About News Help Login
Back to Results
Impedance hand controllers for increasing efficiency in teleoperationsAn impedance hand controller with direct force feedback is examined as an alternative to bilateral force reflection in teleoperations involving force contact. Experimentation revealed an operator preference for direct force feedback which provided a better feel of contact with the environment. The advantages of variable arm impedance were also made clear in tracking tests where subjects preferred the larger hand controller inertias made possible by the acceleration feedback loop in the master arm. The ability to decouple the hand controller impedance from the slave arm dynamics is expected to be even more significant when the inertial properties of various payloads in the slave arm are considered.
Document ID
19900020477
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Carignan, C. (ST Systems Corp. Lanham, MD, United States)
Tarrant, J. (ST Systems Corp. Lanham, MD, United States)
Date Acquired
September 6, 2013
Publication Date
January 31, 1989
Publication Information
Publication: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 3
Subject Category
Man/System Technology And Life Support
Accession Number
90N29793
Funding Number(s)
CONTRACT_GRANT: NAS5-28561
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Related Records

There are no records associated with this record.
No Preview Available